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@@ -382,7 +382,7 @@ int Canbus::read_data(TPCANMsg *pMsgBuff)
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}
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else if((pMsgBuff->ID >= robot::common::RobotWorkMd && pMsgBuff->ID <= robot::common::ICUMonitor) ||
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(pMsgBuff->ID >= robot::common::BrkPedalActCtrReq && pMsgBuff->ID <= robot::common::IOMode) ||
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- (pMsgBuff->ID >= robot::common::RobotAcuatorPos && pMsgBuff->ID <= robot::common::ComputerStaus) ||
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+ (pMsgBuff->ID >= robot::common::RobotAcuatorPos && pMsgBuff->ID <= robot::common::StrStaus) ||
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(pMsgBuff->ID >= robot::common::SysMonitorBack && pMsgBuff->ID <= robot::common::SteerPosTimeReq) ||
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pMsgBuff->ID ==robot::common::EstopInfo || pMsgBuff->ID ==robot::common::EstopErr ||
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pMsgBuff->ID == robot::common::EstpCtrl)
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@@ -1111,7 +1111,7 @@ bool Canbus::StrTxtReq(canbus::StrTxtReq::Request &req,canbus::StrTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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- string str = "/home/madesheng/angle.txt";
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+ string str = "/home/siasun/angle.txt";
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int flag = Canbus::read_txt(str,1);
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if(flag != ROBOT_SUCCESS)
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{
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@@ -1194,7 +1194,7 @@ bool Canbus::BrkTxtReq(canbus::BrkTxtReq::Request &req,canbus::BrkTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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- string str = "/home/madesheng/psng.txt";
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+ string str = "/home/siasun/psng.txt";
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int flag = Canbus::read_txt(str,2);
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if(flag != ROBOT_SUCCESS)
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{
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@@ -1214,7 +1214,7 @@ bool Canbus::BrkTxtReq(canbus::BrkTxtReq::Request &req,canbus::BrkTxtReq::Respon
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tBrkCtrReqTxt.uiBrkCtrMdReq = req.uiBrkCtrMdReq;
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tBrkCtrReqTxt.uiBrkFocCtrReq = req.uiBrkFocCtrReq;
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- brk_txt_timer_ = CreateTimer(ros::Duration(duration_txt), &Canbus::BrkTxtOnTimer, this,false,false);
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+ brk_txt_timer_ = CreateTimer(ros::Duration(duration_txt_brk), &Canbus::BrkTxtOnTimer, this,false,false);
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brk_txt_timer_.start();
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brkTxtTimerState = true;
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res.uiReturn = 1;
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@@ -1272,7 +1272,7 @@ bool Canbus::AccTxtReq(canbus::AccTxtReq::Request &req,canbus::AccTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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- string str = "/home/madesheng/acc.txt";
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+ string str = "/home/siasun/acc.txt";
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int flag = Canbus::read_txt(str,3);
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if(flag != ROBOT_SUCCESS)
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{
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@@ -1348,7 +1348,7 @@ bool Canbus::StrTxtLineReq(canbus::StrTxtLineReq::Request &req,canbus::StrTxtLin
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res.uiReturn = 1;
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return true;
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}
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- string str = "/home/madesheng/angleLine.txt";
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+ string str = "/home/siasun/angleLine.txt";
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int flag = Canbus::read_txt(str,4);
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if(flag != ROBOT_SUCCESS)
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{
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@@ -1423,7 +1423,7 @@ bool Canbus::SftTxtReq(canbus::SftTxtReq::Request &req,canbus::SftTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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- string str = "/home/madesheng/sft.txt";
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+ string str = "/home/siasun/sft.txt";
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int flag = Canbus::read_txt(str,5);
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if(flag != ROBOT_SUCCESS)
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{
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